Files
carrot 77a8919349 TR16 Model, fix radar routine (#211)
* UV+DTR model

* DTR model.. again.

* fix naviGPS

* fix radar...

* fix..

* test

* fix..

* carrot serv

* fix..

* fix.. fleet

* fix.. radar

* fix atc

* Steam Powered model..

* fix.. radarLatFactor range.. 200->500

* fix.. dbc..

* side

* SP v2

* brake light

* fix brakelight

* fix..

* add datetime...

* fix..

* fix..

* fix..

* fix..

* blind spot

* fix tz

* fix..

* ff

* radarLatFactor

* fix.. bsd

* Revert "fix.. bsd"

This reverts commit 1d0d1434470e1b92c65eaffaeb8dd7cd779f85ee.

* fix.. bsd side..

* test

* fix.. e2e conditions

* Revert "test"

This reverts commit 0ce791dbd66c17260366ed1a4df2626c602dbb7d.

* TR16

* fix cut-in detect threshold  3.4 -> 2.6

* fix.. jerk_l limit 5->10

* fix..

* fix.. gm

* fix.. OPTIMA_H mass

* fix.. radar..

* fix radar..

* fix..

* Radar...

* fix..

* fix..

* fix..

* fix.. radartrack 3

* fix..

* fix..

* fix..

* merge..

* fix.. canfd

* fix..

* fix..

* fix..

* fix.. radard

* new cut_in

* Revert "new cut_in"

This reverts commit b9b6e9b33318fe1ce7d626468139b17848efcdcd.

* fix..

* new cut_in detect...

* fix.. disp..

* fix..

* fix..

* fix.. center radar..

* fix.. radar y_sane..

* fix..

* fix..

* hkg jerk 10 -> 5

* fix..

* fix..

* fix.. radar dbc..

* fix..

* fix.. jLead filter..

* test new radar interface..

* fix..

* fix..

* test time...

* Revert "test time..."

This reverts commit 63e9187736985c4dc4b4f3736674ba7cda6adc3f.

* fix radar..

* fix..

* FireHose model..

* tinygrad

* Update interface.py

* fix..

* fix.. nff toyota corolla_tss2

* fix..

* fix..

* fix.. radar

* fix..

* fix.. radar, y_gate

* fix.. radar..

* fix.. for clone..

* scc radar enable at low speed..

* fix.. settings..

* fix.

* fix..

* fix.. radarTimeStep.

* TR16 model again..

* RELEASE.md

* fix cut-in detection...

* fix.. registeration timeout 15sec..

* fix..

* fix.. radar processing.

* fix..

* fix..

* fix..

* fix..

* fix..

* fix..
2025-09-05 15:43:10 +09:00

43 lines
1.5 KiB
Python

import random
from tinygrad.helpers import getenv
from tinygrad.codegen.opt.search import beam_search, bufs_from_lin
from tinygrad.codegen.opt.heuristic import hand_coded_optimizations
from extra.optimization.helpers import load_worlds, ast_str_to_lin, time_linearizer
def optimize_kernel(k):
# TODO: update this
return hand_coded_optimizations(k)
if __name__ == '__main__':
hcopt_wins = beam_wins = tie = 0
hcopt_total = beam_total = 0.0
worlds = load_worlds(filter_reduce=False, filter_noimage=True, filter_novariable=False)
random.seed(0)
random.shuffle(worlds)
for world in worlds[:500]:
k = ast_str_to_lin(world)
rawbufs = bufs_from_lin(k)
k_hcopt = k.copy()
k_hcopt.apply_opts(optimize_kernel(k_hcopt))
k_beam = beam_search(k.copy(), rawbufs, getenv("BEAM", 2))
disable_cache = bool(getenv("NOCACHE", 0))
t_hcopt = time_linearizer(k_hcopt, rawbufs, allow_test_size=False, cnt=10, disable_cache=disable_cache, clear_l2=True) * 1e6
t_beam = time_linearizer(k_beam, rawbufs, allow_test_size=False, cnt=10, disable_cache=disable_cache, clear_l2=True) * 1e6
if t_hcopt == t_beam: tie += 1
elif t_hcopt < t_beam: hcopt_wins += 1
else: beam_wins += 1
hcopt_total += t_hcopt
beam_total += t_beam
print(f"{t_hcopt=:5.2f} {k_hcopt.applied_opts=}")
print("")
print(f"{t_beam=:5.2f} {k_beam.applied_opts=}")
print("*"*20)
print(f"{hcopt_wins=}, {beam_wins=}, {tie=}")
print(f"{hcopt_total=:.2f}, {beam_total=:.2f}")